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Information Theory in Formation Control: An Error Analysis to Multi-Robot Formation.

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  • 1Tsinghua National Laboratory for Information Science and Technology (TNList), Department of Electronic Engineering, Tsinghua University, Beijing 100084, China.

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This study analyzes multi-robot formation errors using information theory. It derives a lower bound for formation errors, aiding in selecting appropriate sensor and controller precision for cooperative robotics.

Keywords:
Bayes riskformation errorlower boundmutual information

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Area of Science:

  • Robotics
  • Information Theory
  • Control Systems

Background:

  • Multi-robot formation control is crucial for cooperative tasks in civilian and military applications.
  • Inherent limitations in sensor and controller precision can lead to formation position errors, impacting task performance.

Purpose of the Study:

  • To analyze formation errors in multi-robot systems from an information theory perspective.
  • To derive a quantifiable lower bound for formation errors.

Main Methods:

  • Treating desired and achieved positions as random variables.
  • Calculating mutual information between these variables to establish error bounds.

Main Results:

  • A novel method for analyzing formation errors using information theory is presented.
  • A lower bound for formation error in multi-robot systems was derived.

Conclusions:

  • The derived error bound offers insights into potential formation inaccuracies.
  • This analysis assists designers in selecting sensors and controllers with adequate precision for robust multi-robot formations.